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Título: | Hybrid visual servoing with hierarchical task composition for aerial manipulation |
Autor: | Lippiello, Vincenzo; Cacace, Jonathan; Santamaria-Navarro, Àngel CSIC ORCID; Andrade-Cetto, Juan CSIC ORCID ; Trujillo, Miguel Ángel; Rodríguez Esteves, Yamnia; Viguria, Antidio | Palabras clave: | Visual dervoing Aerial robotics |
Fecha de publicación: | 2016 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE Robotics and Automation Letters 1(1): 259-266 (2016) | Resumen: | In this letter, a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e., for the control of an aerial vehicle endowed with a robot arm. The proposed approach suitably combines into a unique hybrid-control framework the main benefits of both image-based and position-based control schemes. Moreover, the underactuation of the aerial vehicle has been explicitly taken into account in a general formulation, together with a dynamic smooth activation mechanism. Both simulation case studies and experiments are presented to demonstrate the performance of the proposed technique. | Versión del editor: | http://dx.doi.org/10.1109/LRA.2015.2510749 | URI: | http://hdl.handle.net/10261/132946 | DOI: | 10.1109/LRA.2015.2510749 | Identificadores: | doi: 10.1109/LRA.2015.2510749 issn: 2377-3766 |
Aparece en las colecciones: | (IRII) Artículos |
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Hierarchical-Task.pdf | 409,74 kB | Adobe PDF | Visualizar/Abrir |
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